Robot gripping system based on visual guidance

A vision-guided, robotic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as grasping failures, limiting the flexibility and work efficiency of industrial robots, and robots not being able to adapt in time, to improve the level of automation, high The effect of positioning accuracy

Inactive Publication Date: 2019-03-12
昆山睿力得软件技术有限公司
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AI Technical Summary

Problems solved by technology

[0002] At present, workpiece recognition and grasping is an important application of industrial robots on the production line, but most industrial robots on the production line control the robot to perform predetermined command actions through pre-teaching or offline programming. Changes occur, and the robot cannot adapt to these changes in time, resulting in grasping failure. Therefore, this way of working limits the flexibility and work efficiency of industrial robots to a large extent.

Method used

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  • Robot gripping system based on visual guidance

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Embodiment

[0042] In the use of this system, the CCD camera is fixedly installed above the conveyor belt, and the conveyor belt runs continuously. The workpiece enters the field of view of the camera from one end of the conveyor belt, and the timer is set to trigger the camera to collect a frame of image every 0.5s. The image size is 640×480, and it is matched by the template. The method determines the centroid position of the workpiece, calculates the movement speed of the workpiece through the displacement of the workpiece in the moving direction of the two frames of images and the time interval between the two frames of images, and predicts the position of the workpiece in the next clock cycle through the Kalman filter, and plans The motion trajectory of the robot makes the pose of the end effector of the robot coincide with the target pose when the workpiece moves to the position to be grasped. Finally, through the inverse solution of robot kinematics, the pose information is converted...

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Abstract

The invention discloses a robot gripping system based on visual guidance. The robot gripping system comprises a CCD camera, a lens, a light source, an industrial control computer and an industrial control robot; the CCD camera is an industrial camera, and communicates with a computer through a gigabit Ethernet; and the CCD camera is installed above a conveyor belt. The lens is a prime lens. The light source is an LED ring light source. Image information collected by the CCD camera is received, and converted into robot control signals for controlling the actual position of a robot end-effectorupon completion of workpiece recognition with an image processing algorithm. The industrial control robot is provided with six rotating joints, driven by an AC servo motor, and used for gripping operation on a production line. The robot gripping system is higher in locating accuracy, and meets industrial production requirements; and the robot gripping system is of great significance in improvementof automation level of the production line.

Description

technical field [0001] The invention relates to a robot grasping system based on vision guidance, which belongs to the technical field of intelligent assembly. Background technique [0002] At present, workpiece recognition and grasping is an important application of industrial robots on the production line, but most industrial robots on the production line control the robot to perform predetermined command actions through pre-teaching or offline programming. Changes occur, and the robot cannot adapt to these changes in time, resulting in grasping failure. Therefore, this working method limits the flexibility and work efficiency of industrial robots to a large extent. [0003] Machine vision technology has the characteristics of fast and non-contact. Introducing machine vision technology into the field of industrial robots and guiding robots to perform tasks such as grasping and handling through vision is of great significance for improving the automation level of production...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1697B25J19/023
Inventor 孙怀启
Owner 昆山睿力得软件技术有限公司
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